version: 66.03
glider: 5
mission: 3
dive: 88
start: 6 24 108 18 35 55
data:
$ID,5
$MISSION,3
$DIVE,88
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78296.266
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.477776
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,182937,6205.155,-926.658,31,0.9,31,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-58.1
$GPS2,183503,6205.204,-926.761,16,1.4,16,-9.7
$SPEED_LIMITS,0.104,0.201
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.074,-0.187
$KALMAN_X,-131514.5,2306.0,2199.9,64573.1,-24325.3
$KALMAN_Y,45514.4,-2797.1,-2803.6,34905.6,51513.3
$MHEAD_RNG_PITCHd_Wd,168.0,46915,-12.6,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-117.3,0.0,0.0,0,145,0.00,0.00,-112.65,0.000,6,0.000,0.000,420,2158,3098
$GC,149,-1.03,-117.3,3.4,-3.1,6,165,10.62,2.58,0.00,0.000,4,0.140,0.058,2469,742,3098
$GC,304,-0.71,-117.3,22.5,-10.2,12,310,0.35,2.50,0.00,0.000,6,0.088,0.050,2544,2142,3096
$GC,634,-0.63,-117.3,43.6,-6.0,28,638,0.00,2.53,0.00,0.000,4,0.000,0.061,2544,3557,3096
$GC,662,-0.54,-117.3,45.5,-6.7,29,667,0.17,2.47,0.00,0.000,6,0.088,0.048,2580,2164,3096
$GC,978,-0.54,-117.3,59.5,-3.9,44,983,0.00,2.55,0.00,0.000,4,0.000,0.060,2580,3562,3096
$GC,990,-0.54,-117.3,60.0,-4.0,44,996,0.00,2.47,0.00,0.000,6,0.000,0.048,2580,2165,3096
$GC,1307,-0.54,-117.3,68.8,-3.2,60,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2147,3096
$GC,1616,-0.58,-117.3,79.3,-3.9,75,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2147,3096
$GC,1925,-0.62,-117.3,91.2,-4.0,90,1929,0.00,2.55,0.00,0.000,4,0.000,0.064,2580,745,3096
$GC,1975,-0.62,-117.3,93.4,-4.7,92,1979,0.00,2.55,0.00,0.000,6,0.000,0.051,2580,2169,3096
$GC,2292,-0.62,-117.3,106.5,-4.2,107,2296,0.00,2.60,0.00,0.000,4,0.000,0.063,2580,748,3096
$GC,2303,-0.62,-117.3,107.2,-4.0,107,2309,0.00,2.53,0.00,0.000,6,0.000,0.051,2580,2161,3097
$GC,2620,-0.67,-117.3,120.1,-4.6,123,2625,0.12,2.58,0.00,0.000,4,0.050,0.062,2543,749,3097
$GC,2699,-0.59,-117.3,125.1,-6.5,126,2706,0.12,2.50,0.00,0.000,6,0.093,0.052,2568,2144,3096
$GC,3015,-0.59,-117.3,138.9,-3.9,142,3019,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,749,3096
$GC,3043,-0.59,-117.3,140.2,-5.0,143,3047,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2156,3096
$GC,3359,-0.59,-117.3,153.6,-4.8,158,3363,0.00,2.58,0.00,0.000,4,0.000,0.063,2568,746,3096
$GC,3381,-0.59,-117.3,154.5,-3.9,159,3385,0.00,2.53,0.00,0.000,6,0.000,0.052,2568,2153,3096
$GC,3703,-0.59,-117.3,166.0,-3.3,175,3707,0.00,2.58,0.00,0.000,4,0.000,0.064,2568,747,3096
$GC,3713,-0.59,-117.3,166.3,-3.2,175,3720,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2138,3096
$GC,4030,-0.59,-117.3,180.0,-5.5,191,4034,0.00,2.55,0.00,0.000,4,0.000,0.064,2568,747,3096
$GC,4115,-0.59,-117.3,185.5,-6.4,195,4119,0.00,2.50,0.00,0.000,6,0.000,0.054,2568,2139,3096
$GC,4442,-0.59,-117.3,206.0,-6.1,211,4446,0.00,2.55,0.00,0.000,4,0.000,0.066,2568,750,3095
$GC,4452,-0.59,-117.3,206.8,-6.1,211,4458,0.00,2.50,0.00,0.000,6,0.000,0.053,2568,2140,3095
$GC,4768,-0.59,-117.3,224.8,-5.5,227,4773,0.00,2.58,0.00,0.000,4,0.000,0.066,2568,739,3095
$GC,4791,-0.59,-117.3,226.1,-5.6,228,4795,0.00,2.47,0.00,0.000,6,0.000,0.054,2568,2124,3095
$GC,5118,-0.59,-117.3,244.2,-5.9,244,5122,0.00,2.53,0.00,0.000,4,0.000,0.064,2568,747,3095
$GC,5129,-0.59,-117.3,245.0,-6.2,244,5135,0.00,2.47,0.00,0.000,6,0.000,0.053,2568,2124,3094
$GC,5444,-0.59,-117.3,264.1,-6.0,260,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2123,3095
$GC,5753,-0.59,-117.3,285.5,-7.5,275,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2123,3095
$GC,6063,-0.59,-117.3,309.8,-8.3,290,6067,0.00,2.58,0.00,0.000,4,0.000,0.066,2568,3554,3094
$GC,6073,-0.59,-117.3,310.7,-8.3,290,6080,0.00,2.55,0.00,0.000,6,0.000,0.052,2568,2121,3094
$GC,6389,-0.59,-117.3,339.3,-9.2,306,6394,0.00,2.62,0.00,0.000,4,0.000,0.064,2568,3561,3094
$GC,6401,-0.59,-117.3,340.4,-9.2,306,6407,0.00,2.58,0.00,0.000,6,0.000,0.051,2568,2115,3093
$GC,6717,-0.59,-117.3,371.8,-10.2,322,6721,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3556,3094
$GC,6727,-0.59,-117.3,372.8,-10.0,322,6733,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2127,3094
$GC,7043,-0.59,-117.3,404.4,-10.0,338,7048,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,3556,3094
$GC,7098,-0.59,-117.3,410.3,-10.8,340,7105,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2140,3093
$GC,7415,-0.59,-117.3,441.6,-9.5,356,7419,0.00,2.60,0.00,0.000,4,0.000,0.065,2568,3557,3093
$GC,7425,-0.59,-117.3,442.7,-9.4,356,7431,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2123,3094
$GC,7741,-0.59,-117.3,465.8,-6.3,372,7746,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,3564,3094
$GC,7837,-0.59,-117.3,471.8,-5.7,376,7841,0.00,2.53,0.00,0.000,6,0.000,0.051,2568,2142,3093
$GC,8154,-0.59,-117.3,481.6,-2.2,391,8158,0.00,2.50,0.00,0.000,4,0.000,0.067,2568,753,3093
$GC,8171,-0.59,-117.3,482.1,-2.5,392,8175,0.00,2.45,0.00,0.000,6,0.000,0.054,2568,2120,3093
$GC,8498,-0.59,-117.3,481.7,1.8,408,8502,0.00,2.60,0.00,0.000,4,0.000,0.067,2568,3558,3093
$GC,8520,-0.59,-117.3,481.2,2.1,409,8524,0.00,2.55,0.00,0.000,6,0.000,0.054,2568,2127,3093
$GC,8841,-0.59,-117.3,481.0,-3.2,425,8845,0.00,2.65,0.00,0.000,4,0.000,0.067,2568,3562,3093
$GC,8853,-0.59,-117.3,481.6,-4.4,425,8860,0.00,2.58,0.00,0.000,6,0.000,0.054,2568,2105,3093
$GC,9170,-0.59,-117.3,511.5,-9.8,441,9174,0.00,2.45,0.00,0.000,4,0.000,0.071,2568,762,3093
$GC,9209,-0.59,-117.3,515.5,-10.6,443,9213,0.00,2.42,0.00,0.000,6,0.000,0.057,2568,2109,3093
$GC,9536,-0.64,-117.3,543.6,-8.6,459,9540,0.00,2.50,0.00,0.000,4,0.000,0.072,2568,761,3093
$GC,9670,-0.69,-117.3,554.6,-8.3,465,9675,0.00,2.45,0.00,0.000,6,0.000,0.061,2568,2109,3093
$GC,9993,-0.75,-117.3,577.4,-4.9,481,9995,0.15,0.00,0.00,0.000,6,0.054,0.000,2526,2109,3092
$STATE,10010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10010,begin apogee
$GC,10016,-0.33,0.0,578.8,5.3,482,10117,0.47,0.00,97.53,1.209,6,0.084,0.000,2624,2123,2620
$STATE,10118,end apogee,CONTROL_FINISHED_OK
$STATE,10118,begin climb
$GC,10121,1.03,117.3,585.0,0.0,487,10224,1.38,0.00,97.07,1.184,6,0.067,0.000,2923,2127,2141
$GC,10534,1.03,117.3,554.9,8.7,507,10538,0.00,2.58,0.00,0.000,4,0.000,0.075,2923,3507,2140
$GC,10589,0.99,117.3,549.3,10.6,509,10595,0.00,2.58,0.00,0.000,6,0.000,0.063,2922,2118,2140
$GC,10905,0.99,117.3,508.4,16.3,525,10909,0.00,2.65,0.00,0.000,4,0.000,0.077,2923,686,2138
$GC,10994,0.99,117.3,490.8,20.0,529,10998,0.00,2.60,0.00,0.000,6,0.000,0.064,2923,2099,2139
$GC,11315,0.99,117.3,432.2,14.9,545,11319,0.00,2.60,0.00,0.000,4,0.000,0.074,2923,3508,2137
$GC,11404,0.99,117.3,420.0,13.3,549,11408,0.00,2.55,0.00,0.000,6,0.000,0.058,2923,2111,2136
$GC,11725,1.05,158.5,395.1,4.6,565,11767,0.00,2.67,33.90,1.101,4,0.000,0.072,2923,691,1973
$GC,11795,1.18,235.7,392.6,3.4,568,11866,0.12,2.62,63.33,1.096,6,0.053,0.060,2962,2119,1658
$GC,12182,1.18,235.7,371.0,6.5,587,12186,0.00,2.55,0.00,0.000,4,0.000,0.068,2962,3513,1658
$GC,12267,1.18,235.7,365.3,6.9,591,12271,0.00,2.53,0.00,0.000,6,0.000,0.056,2962,2125,1658
$GC,12593,1.18,235.7,343.4,6.6,607,12598,0.00,2.62,0.00,0.000,4,0.000,0.071,2962,683,1658
$GC,12643,1.18,235.7,339.8,7.2,609,12648,0.00,2.62,0.00,0.000,6,0.000,0.056,2962,2135,1658
$GC,12959,1.18,235.7,315.7,8.4,624,12963,0.00,2.47,0.00,0.000,4,0.000,0.065,2962,3510,1658
$GC,13014,1.18,235.7,310.4,9.6,626,13020,0.00,2.50,0.00,0.000,6,0.000,0.053,2962,2126,1659
$GC,13330,1.18,235.7,281.6,9.2,642,13334,0.00,2.60,0.00,0.000,4,0.000,0.070,2962,690,1659
$GC,13369,1.18,235.7,277.6,10.0,644,13374,0.00,2.62,0.00,0.000,6,0.000,0.054,2962,2142,1658
$GC,13697,1.18,235.7,246.0,9.8,660,13701,0.00,2.47,0.00,0.000,4,0.000,0.064,2962,3514,1659
$GC,13747,1.18,235.7,241.1,9.0,662,13751,0.00,2.50,0.00,0.000,6,0.000,0.053,2962,2130,1659
$GC,14062,1.18,235.7,211.4,9.1,677,14067,0.00,2.60,0.00,0.000,4,0.000,0.068,2962,682,1659
$GC,14107,1.18,235.7,206.9,9.8,679,14112,0.00,2.62,0.00,0.000,6,0.000,0.053,2962,2146,1659
$GC,14428,1.18,235.7,179.9,7.8,695,14432,0.00,2.45,0.00,0.000,4,0.000,0.064,2962,3509,1660
$GC,14483,1.18,235.7,175.9,6.9,697,14489,0.00,2.47,0.00,0.000,6,0.000,0.052,2962,2133,1660
$GC,14799,1.18,235.7,151.8,8.3,713,14803,0.00,2.60,0.00,0.000,4,0.000,0.069,2962,691,1661
$GC,14848,1.18,235.7,146.8,9.3,715,14853,0.00,2.60,0.00,0.000,6,0.000,0.054,2962,2138,1661
$GC,15166,1.18,235.7,119.2,8.5,730,15170,0.00,2.47,0.00,0.000,4,0.000,0.063,2962,3516,1661
$GC,15230,1.18,235.7,113.4,8.8,733,15234,0.00,2.47,0.00,0.000,6,0.000,0.052,2962,2137,1661
$GC,15556,1.18,235.7,81.8,9.9,749,15561,0.00,2.62,0.00,0.000,4,0.000,0.067,2962,679,1661
$GC,15619,1.18,235.7,74.7,11.7,752,15624,0.00,2.60,0.00,0.000,6,0.000,0.052,2962,2140,1661
$GC,15947,1.18,235.7,46.9,7.1,768,15951,0.00,2.45,0.00,0.000,4,0.000,0.062,2962,3509,1661
$GC,16042,1.18,235.9,40.8,6.0,772,16046,0.00,2.42,0.00,0.000,6,0.000,0.051,2963,2157,1661
$GC,16358,1.18,235.9,21.3,6.3,787,16363,0.00,2.65,0.00,0.000,4,0.000,0.067,2962,685,1661
$GC,16400,1.18,235.9,18.6,7.2,789,16405,0.00,2.67,0.00,0.000,6,0.000,0.051,2962,2185,1661
$STATE,16641,end climb,SURFACE_DEPTH_REACHED
$STATE,16641,begin surface coast
$FINISH,0.0,1.019758
$STATE,16664,end surface coast,CONTROL_FINISHED_OK
$STATE,16664,begin surface
$SM_CCo,16686,37.67,0.788,0,0,1397,300.00
$SM_GC,0.68,0.00,0.00,37.67,0.000,0.000,0.788,420,2126,1397,-10.49,-0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1681
$TCM_TEMP,17.50
$XPDR_PINGS,616
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,501.1,86.7
$24V_AH,23.9,19.193
$10V_AH,10.1,8.538
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.450,204.075,291.825,37.675,0.000,37.758,37.459,132.587,158.250,0.000,0.000,16.415,1528.166,12602.146,540.790,1856.983,524.571,33.378,1497.443,0.000,1815.329,0.000,29.871
$DEVICE_MAMPS,140.361,77.467,1208.792,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.814,584.716,609.377,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41079,802
$CAP_FILE_SIZE,136384,0
$CFSIZE,254472192,246431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,240608,231631,6207.408,-924.285,72,1.7,72,-9.7